#include "example.h"
int test_pcl_exmaple()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);

    // Fill in the cloud data
    cloud->width = 5;
    cloud->height = 1;
    cloud->points.resize(cloud->width * cloud->height);

    for (auto& point : *cloud)
    {
        point.x = 1024 * rand() / (RAND_MAX + 1.0f);
        point.y = 1024 * rand() / (RAND_MAX + 1.0f);
        point.z = 1024 * rand() / (RAND_MAX + 1.0f);
    }

    std::cerr << "Cloud before projection: " << std::endl;
    for (const auto& point : *cloud)
        std::cerr << "    " << point.x << " "
        << point.y << " "
        << point.z << std::endl;

    // Create a set of planar coefficients with X=Y=0,Z=1
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
    coefficients->values.resize(4);
    coefficients->values[0] = coefficients->values[1] = 0;
    coefficients->values[2] = 1.0;
    coefficients->values[3] = 0;

    // Create the filtering object
    pcl::ProjectInliers<pcl::PointXYZ> proj;
    proj.setModelType(pcl::SACMODEL_PLANE);
    proj.setInputCloud(cloud);
    proj.setModelCoefficients(coefficients);
    proj.filter(*cloud_projected);

    std::cerr << "Cloud after projection: " << std::endl;
    for (const auto& point : *cloud_projected)
        std::cerr << "    " << point.x << " "
        << point.y << " "
        << point.z << std::endl;

    return (0);
}